Public Member Functions
template<typename T >
bool	operator() (const T const c_p1, const T point, T *resid) const
	PointReprjErrorNoDistortion (double ob_x, double ob_y, double fx)
Static Public Member Functions
static ceres::CostFunction *	Create (const double p_x, const double p_y, const double p_z)
Public Attributes
double	px_
double	py_
double	pz_

Detailed Description

Definition at line 39 of file ceres_utest.cpp.

Constructor & Destructor Documentation

PointReprjErrorNoDistortion::PointReprjErrorNoDistortion	(	double	ob_x,
		double	ob_y,
		double	fx
	)		`[inline]`

Definition at line 41 of file ceres_utest.cpp.

Member Function Documentation

static ceres::CostFunction* PointReprjErrorNoDistortion::Create	(	const double	p_x,
		const double	p_y,
		const double	p_z
	)		`[inline, static]`

end of operator() Factory to hide the construction of the CostFunction object from the client code.

Definition at line 101 of file ceres_utest.cpp.

template<typename T >

bool PointReprjErrorNoDistortion::operator()	(	const T *const	c_p1,
		const T *	point,
		T *	resid
	)		const `[inline]`

extract the variables from the camera parameters

extrinsic block of parameters

angle_axis x for rotation of camera

angle_axis y for rotation of camera

angle_axis z for rotation of camera

translation of camera x

translation of camera y

translation of camera z

rotate and translate points into camera frame

angle axis

point rotated

apply camera translation

point rotated and translated

scale into the image plane by distance away from camera T xp = xp1 / zp1; T yp = yp1 / zp1;

perform projection using focal length and camera center into image plane resid[0] = T(fx_) * xp + T(cx_) - T(ox_); resid[1] = T(fy_) * yp + T(cy_) - T(oy_);

Parameters: